gazebo_ros_ir.h

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/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 * Desc: IR Controller
 * Author: Saeed Anwar
 * Date: 21 Jul 2011
 */

#ifndef GAZEBO_ROS_IR_HH
#define GAZEBO_ROS_IR_HH

#define USE_CBQ
#ifdef USE_CBQ
#include <ros/callback_queue.h>
#include <ros/advertise_options.h>
#endif

#include <gazebo/Controller.hh>
#include <gazebo/Param.hh>
#include <gazebo/Time.hh>

#include <ros/ros.h>
#include "boost/thread/mutex.hpp"
#include <sensor_msgs/Range.h>

namespace gazebo
{

  class IRSensor;

  class GazeboRosIr : public Controller
  {
  public: GazeboRosIr(Entity *parent);
  
  public: virtual ~GazeboRosIr();
  
  protected: virtual void LoadChild(XMLConfigNode *node);
  
  protected: virtual void InitChild();
  
  protected: virtual void UpdateChild();
  
  protected: virtual void FiniChild();
  
  private: void PutIRData();

  private: int irConnectCount;
  private: void IrConnect();
  private: void IrDisconnect();
  private: int deprecatedIrConnectCount;
  private: void DeprecatedIrConnect();
  private: void DeprecatedIrDisconnect();
   
  private: IRSensor *myParent;
        
  private: ros::NodeHandle* rosnode_;
  private: ros::Publisher pub_;
  private: ros::Publisher deprecated_pub_;

  private: sensor_msgs::Range irMsg;
 
  private: ParamT<std::string> *topicNameP;
  private: std::string topicName;
  private: ParamT<std::string> *deprecatedTopicNameP;
  private: std::string deprecatedTopicName;
 
  private: ParamT<std::string> *frameNameP;
  private: std::string frameName;

  private: ParamT<double> *gaussianNoiseP;
  private: double gaussianNoise;
  private: ParamT<std::string> *radiationP;
  private: std::string radiation;

  private: double GaussianKernel(double mu,double sigma);

  private: ParamT<double> *maxRangeP;
  private: double maxRange;
  private: ParamT<double> *minRangeP;
  private: double minRange;
  private: ParamT<double> *fovP;
  private: double fov;

  private: boost::mutex lock;
 
  private: ParamT<std::string> *robotNamespaceP;
  private: std::string robotNamespace;

  private: libgazebo::IRIface *irIface;
    
    
#ifdef USE_CBQ
  private: ros::CallbackQueue ir_queue_;
  private: void IrQueueThread();
  private: boost::thread callback_queue_thread_;
#endif

};



}

#endif